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16,604 Commits 70 Branches 507 Tags 616 MiB
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44 Commits

Author SHA1 Message Date
Leonard Hall 542e5fb54c Copter: backoff autotune discovered Stab P to 90% 2015-05-17 11:06:09 +09:00
Leonard Hall 7cccb73103 Copter: yet more Autotune Updates 2015-05-08 14:14:28 +09:00
Leonard Hall 92fe75f396 Copter: more Autotune updates 2015-05-08 14:14:26 +09:00
Leonard Hall 05103d9f9c Copter: Autotune update 2015-05-08 14:14:23 +09:00
Andrew Tridgell d8146ff3f6 Copter: revert AP_Math class change 2015-05-05 13:27:04 +10:00
Tom Pittenger 20dc48ed16 Coter: compiler warnings: apply is_zero(float) or is_equal(float) and float to doubles 2015-05-05 13:26:53 +10:00
Robert Lefebvre 8610da7fbc Copter: autopilot modes to check for motor interlock status 2015-05-01 14:30:33 +09:00
Robert Lefebvre 9b15ea6f5c Copter: Change throttle_zero to check interlock and E-stop status 2015-05-01 14:30:30 +09:00
Jonathan Challinger f93ff2d3ec Copter: use new lowpass filter 2015-04-17 10:46:50 +09:00
Leonard Hall ca66b51ba9 Copter: Autotune parameter update 2015-04-16 21:00:50 +09:00
Leonard Hall b50f065cab Copter: use relax alt hold controllers 2015-04-16 21:00:28 +09:00
Jonathan Challinger 91a03ae0e7 Copter: add PILOT_THR_FILT and call set_throttle_out functions with that value 2015-04-16 21:00:11 +09:00
Jonathan Challinger b27b9dd86e Copter: use new throttle interface 2015-04-16 20:59:48 +09:00
Leonard Hall 2b5fb850dd Copter: Autotune adjustments 2015-04-15 22:04:26 +09:00
Leonard Hall f8a6684c12 Copter: Autotune update 2015-04-15 20:34:42 +09:00
Leonard Hall cfe12f38a5 Copter: Adjust Autotune backoff of accel 2015-03-27 06:24:53 -07:00
Leonard Hall 35d1cbd053 Copter: Autotune fix P test 2015-03-23 07:40:00 -07:00
Leonard Hall cedd423c30 Copter: Autotune Yaw limits update 2015-03-23 07:39:58 -07:00
Leonard Hall 7cd78f63bf Copter: Stop autotune repeatedly saving gains 2015-03-23 07:39:55 -07:00
Jonathan Challinger ecefe78417 Copter: interpret input in stabilize as a tilt vector 2015-03-11 22:24:42 +09:00
Randy Mackay b475a2fe10 Copter: AutoTune formatting fixes 
no functional change
 2015-03-11 17:28:46 +09:00
Leonard Hall 36c91970f1 Copter: Autotune algorithm update 2015-03-09 18:02:55 +09:00
Leonard Hall 9bfb0e1f40 Copter: Autotune comment changes and formatting 2015-03-09 18:02:52 +09:00
Leonard Hall 1c57c6a266 Copter: Autotune update yaw filt and rate P max 2015-03-09 18:02:50 +09:00
Leonard Hall 1ebf2c40f5 Copter: Autotune rewrite 
Includes the following:
Increase Autotune Limits
Low Rate_P_Max prevents correct Rate_D prediction.
make adjustment proportional
increase the maximum value of Rate_P
adjustment for zero overshoot
Speed up autotune
Reduce D bounce back requirement
adapt matthewlloyd's switching
Includes many enhancements to the basic code but doesn't bring in his
speed up ideas
Reduce Stab P down
Add Calibration
Repeat side to increase speed
Update Autotune PI ratios
fixup comments
autotune incorporate aggressiveness parameter
sets max accel for roll, pitch, yaw
Update accel calc and set Yaw D to zero
Calculate Accel correctly on SP Limit
Send saved gains msg to GCS
updates PID filter
increase accel backoff
save max accel if rate feedfwd enabled
keep stabilizing
 2015-03-06 14:02:04 +09:00
Andrew Tridgell 307b9e807f Copter: reduced build warnings 
removed some unused code, and mark some functions with UNUSED_FUNCTION
 2015-02-18 11:13:48 +11:00
Jonathan Challinger f045c75bfe Copter: play various tones 2014-12-15 14:09:12 +09:00
Randy Mackay 07975ed564 Copter: minor reformat of control_autotune 2014-11-05 21:08:39 +09:00
Brad Bosch 74fedc0897 Copter: allow starting autotune from flightmode switch 
ch5 switch to AutoTune is equivalent to starting autotune via sw7/8.
 2014-11-05 21:08:36 +09:00
lthall 2b4f5fa79d Copter: increase autotune limits 
Rate D max to 0.020 (was 0.015)
Rate P max to 0.35 (was 0.25)
Stab P max to 20 (was 15)
 2014-09-22 21:33:35 +09:00
Leonard Hall 85213dccbf Copter: Autotune Fix 2014-08-14 11:47:40 +09:00
Randy Mackay 52a3dc2bde Copter: reset target alt to current alt when landed 2014-08-04 16:56:03 +09:00
lthall 9202149fb1 Copter: integrate pre-takeoff throttle feedback 
This feature slightly revs the motors in response to the pilot's input
before takeoff AltHold, Loiter, AutoTune, PosHold and Sport flight modes

pair-programmed with Randy Mackay
 2014-07-18 11:41:50 +09:00
Randy Mackay 08801eebf2 Copter: integrate AttControl's set_yaw_target_to_current_heading 2014-06-10 20:02:51 +09:00
Randy Mackay 77d5d682c1 Copter: integrate init_targets rename to relax_bf_rate_controller 
Also remove unnecessary init_targets from flight mode init functions.
 2014-06-10 20:02:29 +09:00
Randy Mackay a3036fc443 Copter: init pos_control z-axis after setting speed and accel 2014-04-30 21:46:17 +09:00
Randy Mackay 7d7a2aced7 Copter: init vert speed and accel for each flight mode 
This resolves issue #1021 in which LAND mode could descend at the
PILOT_VELZ rate instead of the WPNAV_SPEED_DN

Pilot defined acceleration is used for AltHold, AutoTune , Circle,
Hybrid, Loiter, OF_Loiter and Sport flight modes
Waypoint Nav (ie. AutoPilot) acceleration is used for Auto, Land, RTL
 2014-04-30 21:46:10 +09:00
Randy Mackay e89600afe3 Copter: integrate smoothing gain into flight modes 2014-03-04 22:23:52 +09:00
Randy Mackay b259510095 Copter: init roll/pitch input filters 2014-02-16 13:35:30 +11:00
Randy Mackay aab9b30bf6 Copter: replace APM_PI with AC_P 
Saves about 90bytes of RAM
 2014-02-15 06:09:08 +11:00
Randy Mackay 3ccd1ad170 Copter: integrate AttControl method name changes 2014-02-15 06:09:08 +11:00
Randy Mackay 2c1ec9d0c0 Copter: remove control_roll, pitch, yaw from control files 2014-02-15 05:27:47 +11:00
Randy Mackay 1cd678f684 Copter: compiler warning for control_autotune 2014-02-15 05:27:45 +11:00
Randy Mackay 823485f763 Copter: add control_autotune.pde 2014-02-15 05:27:44 +11:00